util3d_mapping.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
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      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef UTIL3D_MAPPING_H_
#define UTIL3D_MAPPING_H_

#include "rtabmap/core/RtabmapExp.h"

#include <opencv2/core/core.hpp>
#include <map>
#include <rtabmap/core/Transform.h>
#include <pcl/pcl_base.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

namespace rtabmap
{

namespace util3d
{

RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
                const cv::Mat & scan, // in /base_link frame
                cv::Mat & empty,
                cv::Mat & occupied,
                float cellSize,
                bool unknownSpaceFilled = false,
                float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");

RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
                const cv::Mat & scan, // in /base_link frame
                const cv::Point3f & viewpoint, // /base_link -> /base_scan
                cv::Mat & empty,
                cv::Mat & occupied,
                float cellSize,
                bool unknownSpaceFilled = false,
                float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");

void RTABMAP_EXP occupancy2DFromLaserScan(
                const cv::Mat & scanHit, // in /base_link frame
                const cv::Mat & scanNoHit, // in /base_link frame
                const cv::Point3f & viewpoint, // /base_link -> /base_scan
                cv::Mat & empty,
                cv::Mat & occupied,
                float cellSize,
                bool unknownSpaceFilled = false,
                float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true

cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
                const std::map<int, Transform> & poses,
                const std::map<int, std::pair<cv::Mat, cv::Mat> > & occupancy,
                float cellSize,
                float & xMin,
                float & yMin,
                float minMapSize = 0.0f,
                bool erode = false,
                float footprintRadius = 0.0f);

RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
                const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
                float cellSize,
                bool unknownSpaceFilled,
                float & xMin,
                float & yMin,
                float minMapSize = 0.0f,
                float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");

RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
                const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
                const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
                float cellSize,
                bool unknownSpaceFilled,
                float & xMin,
                float & yMin,
                float minMapSize = 0.0f,
                float scanMaxRange = 0.0f), "Use interface with cv::Mat scans.");

cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
                const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
                const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
                float cellSize,
                bool unknownSpaceFilled,
                float & xMin,
                float & yMin,
                float minMapSize = 0.0f,
                float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true

void RTABMAP_EXP rayTrace(const cv::Point2i & start,
                const cv::Point2i & end,
                cv::Mat & grid,
                bool stopOnObstacle);

cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
cv::Mat RTABMAP_EXP convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);

cv::Mat RTABMAP_EXP erodeMap(const cv::Mat & map);

template<typename PointT>
typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
                const typename pcl::PointCloud<PointT> & cloud);

// templated methods
template<typename PointT>
void segmentObstaclesFromGround(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                pcl::IndicesPtr & ground,
                pcl::IndicesPtr & obstacles,
                int normalKSearch,
                float groundNormalAngle,
                float clusterRadius,
                int minClusterSize,
                bool segmentFlatObstacles = false,
                float maxGroundHeight = 0.0f,
                pcl::IndicesPtr * flatObstacles = 0,
                const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0));
template<typename PointT>
void segmentObstaclesFromGround(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                pcl::IndicesPtr & ground,
                pcl::IndicesPtr & obstacles,
                int normalKSearch,
                float groundNormalAngle,
                float clusterRadius,
                int minClusterSize,
                bool segmentFlatObstacles = false,
                float maxGroundHeight = 0.0f,
                pcl::IndicesPtr * flatObstacles = 0,
                const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0));

template<typename PointT>
void occupancy2DFromGroundObstacles(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                const pcl::IndicesPtr & groundIndices,
                const pcl::IndicesPtr & obstaclesIndices,
                cv::Mat & ground,
                cv::Mat & obstacles,
                float cellSize);

template<typename PointT>
void occupancy2DFromGroundObstacles(
                const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
                const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
                cv::Mat & ground,
                cv::Mat & obstacles,
                float cellSize);

template<typename PointT>
void occupancy2DFromCloud3D(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                cv::Mat & ground,
                cv::Mat & obstacles,
                float cellSize = 0.05f,
                float groundNormalAngle = M_PI_4,
                int minClusterSize = 20,
                bool segmentFlatObstacles = false,
                float maxGroundHeight = 0.0f);
template<typename PointT>
void occupancy2DFromCloud3D(
                const typename pcl::PointCloud<PointT>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                cv::Mat & ground,
                cv::Mat & obstacles,
                float cellSize = 0.05f,
                float groundNormalAngle = M_PI_4,
                int minClusterSize = 20,
                bool segmentFlatObstacles = false,
                float maxGroundHeight = 0.0f);

} // namespace util3d
} // namespace rtabmap

#include "rtabmap/core/impl/util3d_mapping.hpp"

#endif /* UTIL3D_MAPPING_H_ */